Machine to Machine Targeting Maintaining Positive Identification

ABSTRACT

A method of targeting, which involves capturing a first video of a scene about a potential targeting coordinate by a first video sensor on a first aircraft; transmitting the first video and associated potential targeting coordinate by the first aircraft; receiving the first video on a first display in communication with a processor, the processor also receiving the potential targeting coordinate; selecting the potential targeting coordinate to be an actual targeting coordinate for a second aircraft in response to viewing the first video on the first display; and guiding a second aircraft toward the actual targeting coordinate; where positive identification of a target corresponding to the actual targeting coordinate is maintained from selection of the actual targeting coordinate.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. Non-Provisional patentapplication Ser. No. 15/080,389, filed Mar. 24, 2016, which claimspriority to and the benefit of U.S. Provisional Patent Application No.62/138,305, filed Mar. 25, 2015, the contents of all of which are herebyincorporated by reference herein for all purposes.

TECHNICAL FIELD

The invention relates to Unmanned Aerial Systems (UAS), and moreparticularly to UAS identification of targets.

BACKGROUND

Unmanned Aerial Systems (UAS) include Unmanned Aerial Vehicles (UAV)that may be remotely controlled by one or more operators at one or moreGround Control Systems (GCS). Restrictive rules of engagement mayrequire that a positive identification (PID) of a target be maintainedfrom identification to final contact.

SUMMARY

Some embodiments of the present invention may include a targeting methodwhich may include: capturing a first video of a scene about a potentialtargeting coordinate by a first video sensor on a first aircraft;transmitting the first video and associated potential targetingcoordinate by the first aircraft; receiving the first video on a firstdisplay in communication with a processor, the processor also receivingthe potential targeting coordinate; selecting the potential targetingcoordinate to be an actual targeting coordinate for a second aircraft inresponse to viewing the first video on the first display; and guiding asecond aircraft toward the actual targeting coordinate; where positiveidentification of a target corresponding to the actual targetingcoordinate is maintained from selection of the actual targetingcoordinate. Additional exemplary method embodiments may includelaunching the second aircraft having a second video sensor.

Additional exemplary method embodiments may include orbiting the firstaircraft about the actual targeting coordinate to maintain a field ofview (FOV) of the first video sensor about the actual targetingcoordinate. Additional exemplary method embodiments may includecapturing a second video of the scene by the second video sensor, andreceiving the second video on the first display as the second aircraftapproaches the actual targeting coordinate. In additional exemplarymethod embodiments, maintaining positive identification of the targetmay further include comparing, by a user of the processor, the receivedfirst video of the scene and the received second video of the scene onthe first display to confirm the second aircraft is approaching theactual targeting coordinate. Additional exemplary method embodiments mayinclude selecting a terminal homing mode on the target by the secondaircraft in response to viewing the first video and the second video onthe first display. In additional exemplary method embodiments theterminal homing mode may further include at least one of: impacting thetarget by the second aircraft, impacting the target by a payloaddeployed by the second aircraft, and impacting the target by a markerdeployed by the second aircraft. Additional exemplary method embodimentsmay include confirming a condition of the target after impact inresponse to viewing the first video on the first display.

Additional exemplary method embodiments may include capturing the firstvideo of a new scene about a new potential targeting coordinate by thefirst video sensor on the first aircraft; transmitting the first videoand associated new potential targeting coordinate by the first aircraft;receiving the first video on the first display in communication with theprocessor, the processor also receiving the new potential targetingcoordinate; selecting the new potential targeting coordinate to be a newactual targeting coordinate for a third aircraft in response to viewingthe first video on the first display; and guiding the third aircrafttoward the new actual targeting coordinate; where positiveidentification of a new target corresponding to the new actual targetingcoordinate is maintained from selection of the new actual targetingcoordinate. In additional exemplary method embodiments the selectedpotential targeting coordinate may be a geographical coordinatecorresponding to a center field of view (CFOV) of the captured firstvideo and/or a geographical coordinate corresponding to a pixel in thefield of view (FOV) of the captured first video.

Another exemplary method embodiment may include: receiving, by a groundcontrol system (GCS), a first video stream from a first aircraft and apotential targeting coordinate related to the first video stream;selecting, by the GCS, the potential targeting coordinate correspondingto a target as an actual targeting coordinate; receiving, by the GCS, asecond video stream from a second aircraft; and guiding, by the GCS, thesecond aircraft towards the actual targeting coordinate; where positiveidentification of the target is maintained by the GCS from selection ofthe actual targeting coordinate.

Additional exemplary method embodiments may include selecting, by theGCS, a terminal homing mode on the target by the second aircraft. Inadditional exemplary method embodiments, the terminal homing mode mayinclude at least one of: impacting the target by the second aircraft,impacting the target by a payload deployed by the second aircraft, andimpacting the target by a marker deployed by the second aircraft.Additional exemplary method embodiments may include confirming, via theGCS, a condition of the target after impact via the received first videostream from the first aircraft. Additional exemplary method embodimentsmay include selecting, by the GCS, a new potential targeting coordinatecorresponding to a new target as a new actual targeting coordinate;receiving, by the GCS, a third video stream from a third aircraft; andguiding, by the GCS, the third aircraft towards the new actual targetingcoordinate. In additional exemplary method embodiments, the selectedpotential targeting coordinate is a geographical coordinatecorresponding to a center field of view (CFOV) of the received firstvideo stream and/or a geographical coordinate corresponding to a pixelin the field of view (FOV) of the received first video stream.

An exemplary system embodiment may include: a first aircraft, the firstaircraft including a first processor and configured to transmit a firstvideo stream and a potential targeting coordinate related to the firstvideo stream; a second aircraft, the second aircraft comprising a secondprocessor and configured to transmit a second video stream; a firstground control system (GCS), the first GCS comprising a third processor,and wherein the first GCS is configured to guide the first aircraft; anda second ground control system (GCS), the second GCS comprising a fourthprocessor, and wherein the second GCS may: receive the first videostream, the potential targeting coordinate related to the first videostream, and the second video stream; select the potential targetingcoordinate corresponding to a target as an actual targeting coordinate;and guide the second aircraft towards the actual targeting coordinate;where positive identification of the target is maintained by the secondGCS from selection of the actual targeting coordinate.

In additional exemplary system embodiments, the first GCS may receivethe first video stream. In additional exemplary system embodiments, thefirst GCS may include a first digital data link (DDL) to guide the firstaircraft and receive the first video stream. In additional exemplarysystem embodiments, the second GCS may include a second DDL to receivethe first video stream, the potential targeting coordinate related tothe first video stream, and the second video stream, and guide thesecond aircraft towards the actual targeting coordinate. In additionalexemplary system embodiments, the selected potential targetingcoordinate may be a geographical coordinate corresponding to at leastone of: a center field of view (CFOV) of the first video stream, and apixel in the field of view (FOV) of the first video stream. Inadditional exemplary system embodiments, the second GCS furthercomprises a graphical user interface (GUI) in communication with thefourth processor, and wherein the GUI is configured to display the firstvideo stream and the second video stream. In additional exemplary systemembodiments, the GUI of the second GCS may display a map having alocation of the first aircraft, a location of the second aircraft, aCFOV of the first video stream of the first aircraft, and a CFOV of thesecond video stream of the second aircraft. In additional exemplarysystem embodiments, the second GCS may select a terminal homing mode onthe target by the second aircraft, where the terminal homing mode mayinclude at least one of: impacting the target by the second aircraft,impacting the target by a payload deployed by the second aircraft, andimpacting the target by a marker deployed by the second aircraft; andconfirm a condition of the target after impact via the received firstvideo stream from the first aircraft.

Another exemplary method embodiment may include: receiving, by a groundcontrol system (GCS), a first video stream from a first aircraft and apotential targeting coordinate related to the first video stream;selecting, by the GCS, the potential targeting coordinate correspondingto a target as an actual targeting coordinate; receiving, by the GCS, asecond video stream from a second aircraft of a plurality of aircraft,wherein the second aircraft of the plurality of aircraft is closest tothe target; guiding, by the GCS, the second aircraft of the plurality ofaircraft towards the actual targeting coordinate; where positiveidentification of the target is maintained by the GCS from selection ofthe actual targeting coordinate.

Additional exemplary method embodiments may include selecting, by theGCS, a terminal homing mode on the target by the second aircraft. Inadditional exemplary method embodiments, the terminal homing mode mayinclude at least one of: impacting the target by the second aircraft,impacting the target by a payload deployed by the second aircraft, andimpacting the target by a marker deployed by the second aircraft.Additional exemplary method embodiments may include confirming, via theGCS, a condition of the target after impact via the received first videostream from the first aircraft. Additional exemplary method embodimentsmay include guiding, by the GCS, a third aircraft of the plurality ofaircraft towards the actual targeting coordinate. In additionalexemplary method embodiments, the plurality of aircraft loiter about apre-set area until the actual targeting coordinate is selected. Inadditional exemplary method embodiments, each aircraft of the pluralityof aircraft follows the guided second aircraft towards the actualtargeting coordinate and is spaced apart by a set time.

BRIEF DESCRIPTION OF DRAWINGS

The components in the figures are not necessarily to scale, emphasisinstead being placed upon illustrating the principals of the invention.Like reference numerals designate corresponding parts throughout thedifferent views. Embodiments are illustrated by way of example and notlimitation in the figures of the accompanying drawings, in which:

FIG. 1A depicts an embodiment of an Unmanned Aerial System (UAS) havinga first aircraft transmitting information to one or more Ground ControlSystems (GCS);

FIG. 1B depicts an embodiment of a UAS having a second aircraft launchedafter selection of a target identified by the first aircraft;

FIG. 1C depicts an embodiment of a UAS having the second aircraft viewthe target identified by the first aircraft, while the first aircraftmaintains positive identification of the target;

FIG. 1D depicts an embodiment of a UAS having the second aircraft entera “commit” mode and move towards the target while the first aircraftmaintains positive identification of the target;

FIG. 1E depicts an embodiment of a UAS where the target was destroyed bythe second aircraft and the first aircraft transmits a visualconfirmation of the target hit to the one or more GCS;

FIG. 2 depicts an exemplary GCS of an embodiment having a user interfacefor viewing transmitted information and/or video, and selecting atargeting coordinate based on received information and/or video;

FIG. 3 depicts an exemplary connection between a first GCS controlling afirst aircraft and a second GCS controlling a second aircraft;

FIGS. 4A-4C depict an exemplary functional block diagram of a methodembodiment for identifying, eliminating, and confirming a hit on atarget with two or more aircraft while maintaining a positiveidentification of the target;

FIG. 5 depicts an embodiment of a UAS having multiple aircraft loiteringuntil a target is identified and an actual targeting coordinate relatingto the target is selected;

FIG. 6 depicts an embodiment of a UAS having multiple aircraft guided toa single target, where each of the aircraft guided to the single targetare automatically spaced apart to allow for a single operator to switchto control subsequent aircraft upon impact; and

FIG. 7 illustrates an exemplary top level functional block diagram of acomputing device embodiment of a GCS and/or one or more UAS.

DETAILED DESCRIPTION

The present invention allows for a first aircraft operated by a firstoperator at a first Ground Control System (GCS) to capture informationabout a scene that may include a video stream and geographic coordinatesrelating to the captured video stream. The video stream from the firstaircraft may be transmitted to one or more GCS as encrypted data. Asecond operator at a second GCS may view the transmitted video stream ona display, e.g., a graphical user interface (GUI), and select atargeting coordinate on the GUI that corresponds to a position of atarget on the video stream. The position of the target may be a centerfield of view (CFOV) or any pixel in the field of view (FOV) of thevideo. The position of the target may be the geographical coordinate ofany pixel in the aircraft video stream. The geographical position of anygiven pixel may be interpolated from the CFOV coordinate and thecoordinates of the four corners of the video. A second aircraft may belaunched and guided towards the selected targeting coordinate by thesecond operator. The first aircraft may maintain a positiveidentification (PID) of the target while the second aircraft is guidedtowards the selected targeting coordinate. The second aircraft may beused to impact the target at the selected targeting coordinate. Thevideo stream from the first aircraft may be used to confirm that thetarget has been hit and confirm the extent of any damage to the target.The first aircraft may continue to loiter to look for additionaltargets.

FIG. 1A depicts an embodiment of an Unmanned Aerial System (UAS) havinga first aircraft 100 capturing information about a scene. Thisinformation may be a video stream and targeting coordinates related tothat video stream. The first aircraft 100, e.g., a Puma, Raven, Wasp, orShrike manufactured by AeroVironment, Inc. of Monrovia, Calif., may havea first camera 102 having a first video sensor, which may be mounted ona gimbal to allow a first operator to direct the camera towards variouslocations on the ground 104. The first aircraft 100 and/or first camera102 may be controlled by the first operator 101 at a first GCS 106 viaone or more signals transmitted 105 between the first GCS 106 and thefirst aircraft 100. The first camera 102 may have a field of view (FOV)108 with a center field of view (CFOV) 110 in a center of a capturedvideo stream. The position of the first aircraft 100, first camera 102position, and/or additional details may be used to continually calculatethe geographic position of the CFOV 110 and/or the geographic positionof any pixel in the FOV 108 of the first camera 102 as a potentialtargeting coordinate. The potential targeting coordinate may becalculated on the aircraft 100 and/or transmitted to one or more GCS(106, 112) as video stream metadata. In some embodiments, data from theaircraft 100 may be transmitted to one or more GCS (106, 112) and theone or more GCS (106, 112) may calculate the potential targetingcoordinate. The video stream and potential targeting coordinates may betransmitted (105, 111) to one or more GCS, such as the first GCS 106 anda second GCS 112. A second operator 113 at the second GCS 112 maymonitor the video stream transmitted 111 by the first aircraft 100 untila target 114 is identified. Once the target 114 is identified, thesecond operator 113 may select the potential targeting coordinaterelating to that target 114 via an input at the second GCS 112, e.g., abutton on a GUI having a monitor showing the video stream from the firstaircraft 100. The potential targeting coordinate may be a CFOV 110 orany pixel in the FOV of the video stream. Once the potential targetingcoordinate is selected, it becomes an actual targeting coordinaterelated to the target 114. The target 114 may be stationary or moving.If the target is moving, then a new potential targeting coordinate maybe selected to become a new actual targeting coordinate that correspondsto a new location of the moving target 114, a new CFOV 110 of the firstcamera 102, and/or a new location of the target 114 in the FOV 108 ofthe camera 102. In some embodiments, the targeting coordinate mayadaptively move with moving target 114 and/or the moving CFOV 110 of thefirst camera 102.

FIG. 1B depicts an embodiment of the UAS of FIG. 1A, where a secondaircraft 116, e.g., a Switchblade® manufactured by AeroVironment, Inc.of Monrovia, Calif., has been launched 118 by a launcher 120 in responseto the selection of the targeting coordinate by the second operator 113at the second GCS 112. In some embodiments, the second aircraft 116 maybe launched by hand by the second operator 113 or another person. Oncethe actual targeting coordinate is available, the first aircraft 100 maymaintain PID of the target 114, e.g., by keeping the target 114 withinthe FOV 108 of the first camera 102, while the second aircraft 116 isguided towards the actual targeting coordinate related to the target114. The first aircraft 100 may be guided and/or set on autopilot toorbit, hover, and/or remain in a set region such that the FOV 108 of thefirst camera 102 is maintained on the target 114. In some embodiments,the second aircraft 116 may already be in-flight when the targetingcoordinate is selected. In other embodiments, the second aircraft 116may be launched from the first aircraft 100.

FIG. 1C depicts an embodiment of the UAS of FIGS. 1A-1B, where thesecond aircraft 116 is flying towards the target 114 while the firstaircraft 100 maintains PID of the target 114. The second operator 113may monitor the video stream transmitted 111 by the first aircraft 100,via the second GCS 112, while the second aircraft 116 is guided towardsthe target 114. The second operator 113 may also monitor the videostream transmitted by the second aircraft 116, e.g., by a second camera,via one or more signals transmitted 122 between the second aircraft 116and the second GCS 112. The second operator 113 may view the videostreams transmitted by both the first aircraft 100 and the secondaircraft 116 at the second GCS 112 simultaneously. When the target 114is in the FOV (108, 124) of both cameras, a PID transfer occurs and thesecond operator 113 may focus on the FOV 124 of the second camera tomaintain PID through completion of the mission. Once the target 114 isin the FOV 124 of the second camera of the second aircraft 116, thesecond operator 113 may place the second aircraft 116 into a “commit”mode.

FIG. 1D depicts an embodiment of the UAS of FIGS. 1A-1C, where thesecond aircraft 116 is placed into “commit” mode, via one or moresignals transmitted 122 between the second aircraft 116 and the secondGCS 112, in which the second aircraft 116 enters terminal homing towardsthe actual targeting coordinate of the target 114. In “commit” mode, thesecond operator 113 guides the second aircraft 116 towards the target114. The PID of the target 114 is maintained by the first aircraft 100.In some embodiments, the second aircraft 116 may not contact the target114, but rather deploy a payload and/or marker, e.g., paint, that maycontact the target 114.

FIG. 1E depicts an embodiment of the UAS of FIGS. 1A-1D, where thetarget 115 has been destroyed, e.g., by contact with the second aircraftcarrying a payload of explosives. The first aircraft 100 maintains PIDof the target 115 from first identification, via selection of thetargeting coordinate (See FIG. 1A), to destruction of the target 115and/or PID transfer. The first aircraft 100 may observe the scene in theFOV 108 of the first camera 102 and transmit (105, 111) this videostream to one or more GCS, such as the first GCS 106 and the second GCS112. The destruction of the target 115 may be verified by the firstoperator 101 and/or the second operator 113 via their respective GCS(106, 112). The first aircraft 100 may then continue to transmit (105,111) the video stream and potential targeting coordinates to the one ormore GCS (106, 112) until a new target 125 is identified. The new target125 may be within the FOV 108 of the first camera 102 of the firstaircraft. The new target may also be located outside the FOV 108 of thefirst camera 102 of the first aircraft 100, and the first operator 101may control the first aircraft 100 and/or the first camera 102 to locatea new target. Once the new target 125 is identified, a third plane maybe launched and/or guided towards the new active targeting coordinatevia the second GCS 112. The process may continue until there are noadditional planes and/or all targets have been eliminated. In someembodiments, additional GCS and/or aircraft may be used to identifyand/or eliminate targets. In other embodiments, a single GCS may be usedto control multiple aircraft. A first aircraft may be used to identify apotential targeting coordinate and select the potential targetingcoordinate as an actual targeting coordinate. The first aircraft maythen maintain a FOV of the actual targeting coordinate, e.g., viaautomated flight circling or otherwise hovering above the target, whilean operator flies a second aircraft to the actual targeting coordinate,such that PID is maintained from initial selection of the potentialtargeting coordinate to final impact with the target.

FIG. 2 depicts an exemplary GCS embodiment 200 having a GUI 202 on acomputing device 204, e.g., a laptop or tablet computer having aprocessor and addressable memory (See FIG. 7), for viewing informationtransmitted by one or more aircraft, e.g., a first aircraft 206 and asecond aircraft 208, and selecting a target coordinate based on receivedtransmitted information. The first aircraft 206 may be controlled by afirst GCS (See FIG. 1A, 106), and the first aircraft may transmit 210information about a scene, e.g., a video stream and geographiccoordinates relating to the captured video stream. The transmitted 210information from the first aircraft 206 may be received by a firstdigital data link (DDL) 212, e.g., a pocket DDL. The first DDL 212 maybe connected 214 to the computing device 204, e.g., by a USB and/orEthernet cable.

The computing device 204 may have a display such as a GUI 202, which maydisplay a map 216 showing the location 218 of the first aircraft 206;the location 220 of the second aircraft; the CFOV 222 of the firstaircraft 206, displayed as a “+”; the CFOV of the second aircraft 224,displayed as a “x”; the actual targeting coordinate 226; an entry point228 of the second aircraft 208; and a direction 230 of the secondaircraft from the entry point 228 to the actual targeting coordinate226. In some embodiments, the map 216 may also display the FOV of eachaircraft. In the event that there is wind significant to the secondaircraft terminal phase operation, e.g., greater than five knots, thesecond aircraft may select an entry point 228 which may be an operatorselectable minimum distance, e.g., 1,000 meters downwind from thetarget, from the actual targeting coordinate 226 and downwind. In someembodiments, this entry point may be chosen automatically by thecomputing device 204 without the need for additional operator input.Approaching the actual targeting coordinate 226 from this entry point228 may increase the accuracy and/or maneuverability of the secondaircraft 208 with respect to the actual targeting coordinate 226.

The GUI 202 may also display a first video stream 232 from videotransmitted 210 by the first aircraft 206. An operator may view thisfirst video stream 232 until a desired target appears in the first videostream 232. The operator may then select, e.g., via one or more optionson a toolbar 233, e.g., a FalconView toolbar (FVTB) by AeroVironment,Inc. of Monrovia, Calif., via a user interface, and/or via a touchinterface, to use a CFOV and/or any pixel in the FOV of the first videostream 232 as a targeting coordinate. In some embodiments, the operatormay select any portion of the video stream to be a targeting coordinate.When the operator selects the potential targeting coordinate it becomesan actual targeting coordinate 226. The information transmitted 210 bythe first aircraft 206 and received by the first DDL 212 includesgeographic information related to the CFOV and/or any pixel in the FOVof the first video stream 232 being viewed by the operator. Once theactual targeting coordinate 226 is active, the operator may launch (SeeFIG. 1B, 118) a second aircraft 208 and/or take control of a secondaircraft 208 that is already in-flight. One or more signals transmitted234 between a second DDL 236 and the second aircraft 208 may be used tocontrol the second aircraft 208 and receive a video stream from thesecond aircraft 208. The second DDL 236 may be mounted on a tower 238 toensure line-of-sight with the second aircraft 208. The second DDL 236may be connected to a hub 240 which may be connected to the computingdevice 204 and/or a second aircraft controller 242.

The GUI may display a second video stream 244 from video transmitted 234by the second aircraft 208. Once the actual targeting coordinate 226 isactive and the second aircraft 208 is in-flight, the operator may viewthe video streams (232, 244) of both the first aircraft 206 and thesecond aircraft 208. By using both video streams (232, 244), theoperator guiding the second aircraft 208 towards the actual targetingcoordinate 226 may use the second aircraft controller 242 to maintainPID of the target from initial selection of the potential targetingcoordinate to final impact with the target. In some embodiments, thevideo streams (232, 244) may be presented proximate to one another on asingle screen and device and/or a plurality of screens and/or devices.

FIG. 3 depicts an exemplary GCS embodiment 300 between a first GCS 302controlling a first aircraft 304 and a second GCS 306 controlling asecond aircraft 308. In some embodiments, a plurality of GCS may bespaced apart geographically such that a direct connection between them,e.g., via Ethernet and/or USB cables, is not feasible (See FIG. 2)Utilizing multiple GCS may be useful in reducing the time fromidentification of a target to final impact with that target. In otherembodiments, multiple GCS (302, 306) may be spaced close enoughgeographically that they may be directly connected, and informationtransmitted (310, 312) by the first aircraft 304 and/or the secondaircraft 308 may be shared without the need for an additional DDL, suchas a pocket DDL (See FIG. 2, 212). In some embodiments, a single DDL maybe used to receive and/or transmit data, e.g., a video stream, potentialtargeting coordinates related to the video stream, and/or one or moreaircraft controls, between two or more aircraft.

Information, e.g., a video stream and geographic coordinates relating tothe captured video stream, may be transmitted 310 by the first aircraftto a first DDL 314 of a first GCS 302. The first DDL 314 may transmitthe received information to a first computing device 316, e.g., a laptopor tablet computer. The first computing device 316 may be connected to afirst adapter box 318 by a cable, e.g., a USB cable. The first adapterbox 318 may be connected to a second adapter box 320 by an Ethernetcable 322, e.g., an Ethernet cable up to 100 meters in length. Thesecond adapter box 320 may be connected to a second computing device 324by a cable, e.g., a USB cable. The adapter boxes (318, 320) may be usedto convert USB to Ethernet and vice-versa. An operator at the secondcomputing device 324 may view the video stream captured by the firstaircraft 304 and select a potential targeting coordinate based on thatvideo stream (See FIG. 2). The operator at the second computing device324 may also receive the video stream from the second aircraft 308,which is transmitted 312 to a second DDL 326 of the second GCS 306, andthen to the second computing device 324.

FIGS. 4A-4C depict an exemplary functional block diagram of a methodembodiment for identifying, eliminating, and confirming any damage to atarget with two aircraft while maintaining a positive identification ofthe target from initial identification through final confirmation (400,401, 403). Reference characters A and B are used to show the connectionbetween the steps in FIG. 4A-4C. A first operator of a first aircraft,via a first ground control system (GCS) captures a video of a potentialtarget via a first camera disposed on the first aircraft (step 402). Theoperator maintains, via the first GCS, the first camera of the firstaircraft on the target to maintain PID (step 404). The first aircrafttransmits a video stream from the first camera and a potential targetingcoordinate related to the first video stream (step 406). The potentialtargeting coordinate may be embedded in the video stream as metadata,and may be continuously updated as the CFOV changes across a scene. Asecond operator, via a second GCS, receives the first video stream andthe potential targeting coordinate related to the first video streamfrom the first aircraft (step 408). The second operator selects, via thesecond GCS, the potential targeting coordinate as an actual targetingcoordinate (step 410). In some embodiments, the second operator mayselect a new actual targeting coordinate if the second operatoridentifies a new target, e.g., a target of higher importance than theoriginally selected target. A second aircraft having a second camera islaunched (step 412). The second operator may launch the second aircraft,or another individual may perform a pre-launch checklist and launch thesecond aircraft. In some embodiments, the second aircraft may already bein-flight and the second operator may switch to and/or continue tocontrol the second aircraft. The second aircraft may be launched via thefirst GCS and/or the second GCS. The second aircraft transmits a secondvideo stream from the second camera (step 414). The second operator, viathe second GCS, receives the second video stream and the first videostream (step 416). The second operator, via the second GCS, guides thesecond aircraft towards the actual targeting coordinate (step 418). Thesecond operator, via the second GCS, confirms that the target identifiedin the first video stream is the same as the target located at theactual targeting coordinate (step 419). The second operator, via thesecond GCS, selects a terminal homing mode on the target by the secondaircraft (step 420). In some embodiments, the target may be mobile andmay have changed position from its initial targeting coordinate. If thetarget has moved, the second operator may adjust, via the second GCS,the path of the second aircraft to enter terminal homing mode to the newtarget location. In some embodiments, the second operator may select,via the second GCS, a new targeting coordinate from the first videostream based on the new target location as long as PID has beenmaintained by the first video stream. The second aircraft impacts thetarget (step 422). In some embodiments, the second aircraft may deploy apayload on the target, e.g., explosives, or a marker, e.g., paint. Thefirst operator and/or the second operator confirms, via the first GCSand/or the second GCS, the condition of the target after impact via thefirst video stream from the first aircraft (step 424). In someembodiments, the second operator may also confirm, via the second GCS,the condition of the target after impact via the first video stream fromthe first aircraft. The second operator may, via the second GCS, thendecide if further action is needed, e.g., selecting a new targetingcoordinate and/or launching a third aircraft. In some embodiments, thisprocess may be repeated until desired effects have been achieved, e.g.,the target is eliminated (step 426).

FIG. 5 depicts an embodiment of a UAS having a first operator 500controlling a first aircraft 502, via a first GCS 501, and a secondoperator 504 that may control one of a plurality of aircraft (506, 508,510, 512, 514) in-flight, via a second GCS 505. The plurality ofaircraft (506, 508, 510, 512, 514) may loiter about a pre-set areaand/or pattern until needed by the second operator 504. The firstoperator 502 may, via the first GCS 501, identify a target 516 withinthe FOV 518 of a camera 520 on the first aircraft 502. The secondoperator 504 may, via the second GCS 505, view the target 516 via avideo stream transmitted by the first aircraft 502 to the second GCS505. The second operator 504 may, via the second GCS 505, select apotential targeting coordinate relating to the target 516 as an activetargeting coordinate (See FIG. 2). The second operator 504 may, via thesecond GCS 505, select a second aircraft 506, of the plurality ofaircraft (506, 508, 510, 512, 514) that are loitering, to be guided 522towards the target 516. The second operator 504, via the second GCS 505,maintains PID of the target 516 during the selection of the secondaircraft 506 via the video stream transmitted by the first aircraft 502to the second GCS 505. The remaining plurality of aircraft (508, 510,512, 514) remain loitering until needed by the second operator 504 to beguided towards the target 516 and/or a new target.

FIG. 6 depicts an embodiment of a UAS having a first operator 600controlling a first aircraft 602, via a first GCS 601, and a secondoperator 604 controlling a plurality of aircraft (606, 608, 610, 612,614), via a second GCS 605, that are each spaced apart by a set time andbeing guided towards a target 616. The first operator 600 may identify,via the first GCS 601, a target 616 in the FOV 618 of a first camera 620on the first aircraft 602. The second operator 604 may, via the secondGCS 605, select an active targeting coordinate based on the target 616(See FIG. 2). Once an active targeting coordinate is selected by thesecond operator 604, the plurality of aircraft (606, 608, 610, 612, 614)may line up to follow and be guided to the target 616, such that each ofthe plurality of aircraft (606, 608, 610, 612, 614) is spaced apart by aset time. The second operator 604 may view, via the second GCS 605, avideo feed from both the first aircraft 602 and the aircraft 606 closestto the target 616 to maintain PID of the target 616. The second operator604 may also take control of the aircraft 606 closest to the target 616,while the remaining aircraft (608, 610, 612, 614) may continue onautopilot. Once the aircraft 606 contacts the target, the secondoperator 604 may continue to view, via the second GCS 605, a video feedfrom the first aircraft 602. The second operator 604 may then takecontrol of the aircraft 608, via the second GCS 605, which is now theclosest aircraft to the target 616, and view the video feed from a thirdaircraft 608. Switching control and/or viewing video feeds fromsubsequent aircraft (608, 610, 612, 614) may be automatically controlledby a computing device of the second GCS 605 as each aircraft (606, 608,610, 612, 614) contacts the target (See FIGS. 2 and 7). This process maycontinue until the target 616 is eliminated and/or there are noremaining aircraft for the second operator 604 to control.

FIG. 7 illustrates an exemplary top level functional block diagram of acomputing device embodiment of a GCS and/or one or more UAS 700. Theexemplary embodiment 700 is shown as a computing device 720 having aprocessor 724, such as a central processing unit (CPU), addressablememory 727, an external device interface 726, e.g., an optionaluniversal serial bus port and related processing, and/or an Ethernetport and related processing, and an optional user interface 729 (SeeFIG. 2), e.g., an array of status lights and one or more toggleswitches, and/or a display, and/or a keyboard and/or a pointer-mousesystem and/or a touch screen. Optionally, the addressable memory 727 mayfor example be: flash memory, eprom, and/or a disk drive or other harddrive. These elements may be in communication with one another via adata bus 728. The processor 724 may have an operating system 725 such asone supporting a web browser 723 and/or applications 722, which may beconfigured to execute steps of a process according to the exemplaryembodiments described herein.

It is contemplated that various combinations and/or sub-combinations ofthe specific features and aspects of the above embodiments may be madeand still fall within the scope of the invention. Accordingly, it shouldbe understood that various features and aspects of the disclosedembodiments may be combined with or substituted for one another in orderto form varying modes of the disclosed invention. Further it is intendedthat the scope of the present invention herein disclosed by way ofexamples should not be limited by the particular disclosed embodimentsdescribed above.

1: A targeting method, comprising: capturing a first video of a sceneabout a potential targeting coordinate by a first video sensor on afirst aircraft; selecting the potential targeting coordinate to be anactual targeting coordinate for a second aircraft based on the firstvideo; guiding to launch the second aircraft toward the actual targetingcoordinate; capturing a second video of the scene by a second videosensor on the second aircraft after being launched; displaying thesecond video proximate to the first video as the second aircraftapproaches the actual targeting coordinate; wherein a positiveidentification is executed based on a target being identified in boththe first video and the second video simultaneously; and controlling thesecond aircraft to impact the target while maintaining the positiveidentification. 2: The method of claim 1, wherein the selected actualtargeting coordinate is a geographical coordinate corresponding to apixel in the field of view (FOV) of the captured first video. 3: Themethod of claim 1, further comprising: transmitting the first video andassociated potential targeting coordinate; and receiving the first videoon a first display in communication with the second processor, thesecond processor also receiving the potential targeting coordinate. 4:The method claim 1, further comprising: launching the second aircraft,the second aircraft having the second video sensor; and guiding thefirst aircraft about the actual targeting coordinate to maintain a fieldof view (FOV) of the first video sensor about the actual targetingcoordinate. 5: The method of claim 1, further comprising: setting anentry point, to the actual targeting coordinate, for the second aircraftbased on a predetermined distance from the target and wind speed. 6: Themethod of claim 1, wherein the positive identification transfer furthercomprises: comparing the received first video of the scene and thereceived second video of the scene on the first display to confirm thesecond aircraft is approaching the actual targeting coordinate. 7: Themethod of claim 1, further comprising: selecting a terminal homing modeon the target by the second aircraft in response to viewing the firstvideo and the second video on the first display, wherein the terminalhoming mode further comprises at least one of: impacting the target bythe second aircraft, impacting the target by a payload deployed by thesecond aircraft, and impacting the target by a marker deployed by thesecond aircraft. 8: The method of claim 7, further comprising:confirming a condition of the target after impact in response to viewingthe first video on the first display. 9: The method of claim 7, furthercomprising: capturing a new first video of a new scene about a newpotential targeting coordinate by the first video sensor on the firstaircraft; transmitting the new first video and associated new potentialtargeting coordinate by the first aircraft; receiving the new firstvideo on the first display, and receiving the new potential targetingcoordinate; selecting the new potential targeting coordinate to be a newactual targeting coordinate for a third aircraft in response to viewingthe new first video on the first display; and guiding the third aircrafttoward the new actual targeting coordinate; wherein positiveidentification of a new target corresponding to the new actual targetingcoordinate is maintained from selection of the new actual targetingcoordinate; and wherein the selected potential targeting coordinate is ageographical coordinate corresponding to a center field of view (CFOV)of the captured new first video. 10: A method, comprising: receiving, bya ground control system (GCS), a first video stream from a firstaircraft and a potential targeting coordinate related to the first videostream, the first aircraft configured to transmit the first videostream; selecting, by the GCS, the potential targeting coordinatecorresponding to a target as an actual targeting coordinate; receiving,by the GCS, a second video stream from a second aircraft, the secondaircraft configured to transmit the second video stream; and guiding, bythe GCS, the second aircraft towards the actual targeting coordinate;wherein a positive identification is executed, by the GCS, based on thetarget being identified in both a field of view (FOV) of the receivedfirst video stream and a FOV of the received second video streamsimultaneously; and controlling, by the GCS, the second aircraft toimpact the target while maintaining the positive identification. 11: Themethod of claim 10, wherein the selected actual targeting coordinate isa geographical coordinate corresponding to a pixel in the field of view(FOV) of the received first video stream. 12: The method of claim 10,further comprising: selecting, by the GCS, a terminal homing mode on thetarget by the second aircraft. 13: The method of claim 12, wherein theterminal homing mode comprises at least one of: impacting the target bythe second aircraft, impacting the target by a payload deployed by thesecond aircraft, and impacting the target by a marker deployed by thesecond aircraft. 14: The method of claim 13, further comprising:confirming, via the GCS, a condition of the target after impact via thereceived first video stream from the first aircraft; selecting, by theGCS, a new potential targeting coordinate corresponding to a new targetas a new actual targeting coordinate; receiving, by the GCS, a thirdvideo stream from a third aircraft, the third aircraft configured totransmit the third video stream; and guiding, by the GCS, the thirdaircraft towards the new actual targeting coordinate; wherein positiveidentification of the new target corresponding to the new actualtargeting coordinate is maintained from selection of the new actualtargeting coordinate. 15: The method of claim 10, wherein the selectedpotential targeting coordinate is a geographical coordinatecorresponding to a center field of view (CFOV) of the received firstvideo stream. 16: A system comprising: a first aircraft, the firstaircraft configured to transmit a first video stream and a potentialtargeting coordinate related to the first video stream; a secondaircraft, the second aircraft configured to transmit a second videostream; a ground control system (GCS), the GCS configured to: receivethe first video stream and the potential targeting coordinate related tothe first video stream; select the potential targeting coordinatecorresponding to a target as an actual targeting coordinate; receive thesecond video stream; guide the second aircraft towards the actualtargeting coordinate; wherein a positive identification is executedbased on the target being identified in both the first video stream andthe second video stream simultaneously; and control the second aircraftto impact the target while maintaining the positive identification. 17:The system of claim 16 wherein the GCS further comprises a first digitaldata link (DDL) to guide the first aircraft and receive the first videostream. 18: The system of claim 16 wherein the selected potentialtargeting coordinate is a geographical coordinate corresponding to acenter field of view (CFOV) of the first video stream. 19: The system ofclaim 16, wherein the GCS is further configured to: select a terminalhoming mode on the target by the second aircraft. 20: The method ofclaim 19, wherein the terminal homing mode comprises at least one of:impacting the target by the second aircraft, impacting the target by apayload deployed by the second aircraft, and impacting the target by amarker deployed by the second aircraft.